JP5015718B2 - Parking assistance device - Google Patents

Description

  The present invention relates to a parking assist device, and particularly suitable for assisting parking of the host vehicle by displaying a travel assist line for assisting the backward traveling of the host vehicle for parking the host vehicle in a parking space. The present invention relates to a support device.

  In recent years, with the development of in-vehicle camera technology and image processing technology, the spread of automobiles equipped with a parking assistance device that supports driving operation for parking the own vehicle in a desired parking space using a video image taken by the in-vehicle camera has been popularized. It is growing.

  In such a parking assist device, in a parking lot, a vehicle periphery monitoring image for monitoring a predetermined monitoring area around the host vehicle is generated using a video image taken by an in-vehicle camera and displayed on a display. Corresponding to the expected tire trajectory of the left and right wheels of the vehicle as a driving assistance line that assists the vehicle to move backward to park the vehicle in a predetermined parking space in the parking lot on the periphery monitoring screen Two traveling auxiliary lines having the above-described shape are displayed in an overlapping manner. Note that the tire trajectory is normally calculated based on the steering angle of the steering wheel of the host vehicle.

  In addition, some parking assistance devices that display this type of driving assistance line are designed to prevent the host vehicle in the vehicle periphery monitoring image from the viewpoint of reliably avoiding a collision between the host vehicle and an obstacle (mainly another vehicle). In some cases, the auxiliary driving line is displayed with a certain margin (separation distance) in the vehicle width direction.

JP 2005-319851 A

  However, as a result of providing a margin between the driving auxiliary line and the host vehicle in the vehicle periphery monitoring image, the two driving auxiliary lines are vehicles on the vehicle periphery monitoring image with respect to the parking space in the vehicle periphery monitoring image. When displayed on the outside in the width direction, when the vehicle is traveling backward for parking, the host vehicle is too close to one of the driving auxiliary lines, and the host vehicle protrudes from the parking space or gets on the parking pallet. The result was that they could not.

  Furthermore, in such a conventional method of displaying the driving assistance line, even if parking in the parking space is possible, it is very difficult to park the host vehicle in the center of the parking space that is the optimal parking position. It was difficult.

  In addition, in the conventional method of displaying the travel auxiliary line, it is possible to completely grasp whether the two travel auxiliary lines are aligned with each other on the vehicle periphery monitoring image so that appropriate parking in the parking space is possible. Because there was not, it was forced to turn over many times, and it was difficult to park quickly.

  Therefore, conventionally, there has been a problem that it is difficult to quickly and appropriately perform parking at an optimal parking position in the parking space.

  Then, this invention is made | formed in view of such a problem, and it aims at providing the parking assistance apparatus which can assist quick and appropriate parking to the optimal parking position in a parking space. Is.

  In order to achieve the above-described object, the parking assist apparatus of the present invention includes a photographing unit for photographing a predetermined photographing region around the own vehicle, and a predetermined monitoring around the own vehicle using a photographed image by the photographing unit. When generating a vehicle periphery monitoring image for monitoring a region and displaying the generated vehicle periphery monitoring image on a display unit, and when parking the host vehicle in a desired parking space Based on the steering angle of the steering wheel of the host vehicle, an expected tire track of the left rear wheel of the host vehicle is calculated as the predicted track of the left rear side part of the host vehicle, and the right rear of the host vehicle is calculated. As the predicted trajectory of the side part, a trajectory calculating means for calculating an expected tire trajectory of the right rear wheel of the host vehicle, a frontage dimension acquiring means for acquiring a frontage dimension of the parking space, and a calculation result of the trajectory calculation means. And the acquisition result of the frontage dimension acquisition means, generating a travel auxiliary line for assisting the backward traveling of the host vehicle for parking the host vehicle in the parking space, and generating the generated travel auxiliary line Travel auxiliary line display processing means for displaying superimposed on the vehicle periphery monitoring image including the parking space, the travel auxiliary line display processing means corresponding to a part of the shape of the expected trajectory of the left rear side portion The two travel assist lines, the left travel assist line having the shape and the right travel assist line having a shape corresponding to a part of the shape of the expected locus of the right rear side part, A separation distance between the two travel auxiliary lines on a first virtual straight line parallel to the vehicle width direction assumed at a position corresponding to the axle of the rear wheel of the host vehicle on the vehicle periphery monitoring image, Parking It is characterized in that it is formed so as to generate two of the traveling auxiliary lines to conform to the frontage dimension in the vehicle periphery monitoring image on the pace.

  According to such a configuration, the separation distance between the left and right driving auxiliary lines can be made to coincide with the frontage dimension on the vehicle periphery monitoring image of the parking space. By carrying out reverse running in a state of being aligned with both ends in the frontage direction in the parking space, the host vehicle can be easily parked quickly and appropriately in the center of the parking space.

  Further, the travel auxiliary line display processing means assumes a second imaginary straight line parallel to the vehicle width direction passing through the axle of the rear wheel of the actual vehicle, and then calculates the tire locus of the left and right rear wheels. The distance between the two tire tracks on the second imaginary straight line is moved in a direction opposite to each other in the vehicle width direction until reaching a position that matches the acquisition result of the frontage dimension acquisition means. A part of the tire trajectory of the left rear wheel is defined, and a left line segment extending in a backward direction from an intersection of the tire trajectory of the left rear wheel after the movement and the second virtual straight line is defined. And a part of the tire locus of the right rear wheel after movement, and a right side extending in a backward direction from an intersection of the tire locus of the right rear wheel after movement and the second virtual straight line. Define a line segment, and the line segment on the left The left driving auxiliary line is generated by coordinate conversion on the vehicle periphery monitoring image, and the right driving auxiliary line is generated by coordinate conversion of the right line segment on the vehicle periphery monitoring image. It is preferable to be formed as described above.

  According to such a structure, the driving assistance line which can support quick and appropriate parking to the optimal parking position in a parking space can be produced | generated simply and reliably.

  Furthermore, another parking assistance apparatus of the present invention monitors a predetermined monitoring area around the host vehicle by using a photographing unit that photographs a predetermined photographing area around the own vehicle and a photographed image by the photographing means. A vehicle periphery monitoring image display processing means for generating a vehicle periphery monitoring image for displaying the vehicle periphery monitoring image on a display unit, and the host vehicle when the host vehicle is parked in a desired parking space. Based on the steering angle of the steering wheel of the vehicle, an expected movement trajectory of the actual or virtual left rear side corner of the host vehicle is calculated as an expected trajectory of the left rear side portion of the host vehicle, and the host vehicle As an expected trajectory of the right rear side portion of the vehicle, trajectory calculating means for calculating an expected movement trajectory of an actual or virtual right rear side corner of the host vehicle, and a frontage dimension of the parking space Using the frontage dimension acquisition means for acquiring the vehicle, the calculation result of the trajectory calculation means and the acquisition result of the frontage dimension acquisition means, assisting the host vehicle to travel backward to park the host vehicle in the parking space. Driving auxiliary line display processing means for generating a driving auxiliary line to be generated and superimposing and displaying the generated driving auxiliary line on the vehicle periphery monitoring image including the parking space, the driving auxiliary line display processing means The left side travel auxiliary line having a shape corresponding to a part of the shape in the expected locus of the left rear side portion, and the right side of the right side having a shape corresponding to a shape of the part in the expected locus of the right rear side portion. On the first imaginary straight line parallel to the vehicle width direction, which is assumed to be a position corresponding to the rear end of the host vehicle on the vehicle periphery monitoring image, the two travel auxiliary lines with the travel auxiliary line In The two driving auxiliary lines are generated so that the distance between the two driving auxiliary lines matches the frontage dimension on the vehicle periphery monitoring image of the parking space. It is characterized by.

  Even with such a configuration, the separation distance between the left and right travel auxiliary lines can be made to coincide with the frontage dimension on the vehicle periphery monitoring image of the parking space, so that the left and right travel auxiliary lines are parked on the vehicle periphery monitoring image. By carrying out reverse travel in a state where the two are aligned with both ends in the frontage direction in the space, the host vehicle can be easily parked quickly and appropriately in the center of the parking space.

  Furthermore, the travel auxiliary line display processing means assumes a second imaginary straight line parallel to the vehicle width direction passing through the rear end portion of the real vehicle and then the movement locus of the left rear side corner portion. And the movement trajectory of the right rear side corner portion in the vehicle width direction until the separation distance on the second imaginary straight line between the two movement trajectories reaches a position that matches the acquisition result of the frontage dimension acquisition means In the direction opposite to each other, forming a part of the movement trajectory of the left rear corner after the movement, the movement trajectory of the left rear corner after the movement and the second virtual straight line, A left-side line segment extending in the backward direction from the intersection of the two, and forming a part of the movement locus of the right rear side corner portion after movement, and the movement of the right rear side corner portion after the movement In the backward direction from the intersection of the trajectory and the second virtual straight line The left line segment is generated by coordinate conversion of the left line segment on the vehicle periphery monitoring image, and the vehicle periphery monitoring is performed on the right line segment. It is preferable that the right side travel auxiliary line is generated by coordinate conversion onto an image.

  According to such a structure, the driving assistance line which can support quick and appropriate parking to the optimal parking position in a parking space can be produced | generated simply and reliably.

  Further, the separation distance on the second imaginary straight line between the predicted trajectory of the left rear part and the predicted trajectory of the right rear part calculated by the trajectory calculating means is obtained by the frontage dimension acquiring means. When it becomes larger than the result, it is preferable to include a non-parking warning output means for outputting a warning that parking in the parking space is impossible.

  According to such a configuration, it is possible to surely understand that the own vehicle cannot be parked in the parking space by the warning by the parking impossibility warning output means. Can be avoided in advance.

  Furthermore, with respect to the separation distance on the second virtual straight line between the predicted trajectory of the left rear side portion and the predicted trajectory of the right rear side portion calculated by the trajectory calculating means, the frontage dimension obtaining means It is preferable to provide mirror folding guide means for guiding that it is necessary to fold the door mirror because the parking space is small when the excess amount of the acquisition result is less than the threshold.

  According to such a structure, even if it is a narrow parking space, it can park safely by guidance by a mirror folding guide means.

  Furthermore, the trajectory calculation means is formed so that the calculation result of the expected trajectory can be changed in accordance with a change in the steering angle, and the travel auxiliary line display processing means changes the calculation result of the trajectory calculation means. At the same time, it is preferable that the travel auxiliary line is formed to be changeable.

  According to such a structure, since a driving assistance line can be displayed dynamically (variable) according to the change of a steering angle, the own vehicle can be parked more appropriately in the center of a parking space.

  Moreover, it is preferable that the said frontage dimension acquisition means is formed so that the said frontage dimension may be acquired based on the picked-up image of the white line, pallet, or curb which partitions the said parking space image | photographed by the said imaging | photography means.

  According to such a configuration, since the captured video used for generating and displaying the vehicle periphery monitoring image can be further used for displaying the driving auxiliary line, the driving auxiliary line can be displayed more efficiently. it can.

  Furthermore, it is preferable that the vehicle periphery monitoring image is an overhead image in which the host vehicle and its surroundings are looked down from above the host vehicle.

  According to such a configuration, the distance between the left and right driving auxiliary lines can be matched with the frontage dimension on the overhead view image of the parking space. By carrying out backward running in a state of being aligned with both ends of the direction, the host vehicle can be easily parked quickly and appropriately in the center of the parking space.

  ADVANTAGE OF THE INVENTION According to this invention, the quick and appropriate parking to the optimal parking position in a parking space can be supported.

(First embodiment)
Hereinafter, a first embodiment of a parking assistance apparatus according to the present invention will be described with reference to FIGS. 1 to 5.

  As shown in FIG. 1, the parking assistance apparatus 1 in this embodiment has four in-vehicle cameras 2, 3, 4, and 5 as photographing means for photographing a predetermined photographing region around the host vehicle. . One of these four in-vehicle cameras 2, 3, 4 and 5 is a front camera 2 attached to the front part (for example, in the emblem) of the own vehicle. An object (such as a road surface or another vehicle) existing within a predetermined viewing angle in front of the vehicle is photographed. One of the remaining three in-vehicle cameras 3, 4, 5 is a left side camera 3 attached to the left side of the host vehicle (for example, in the left door mirror), and this left side camera 3 An object existing within a predetermined viewing angle on the left side of the host vehicle is photographed. One of the remaining two in-vehicle cameras 4 and 5 is a right side camera 4 attached to the right side of the host vehicle (for example, in the right door mirror). An object existing within a predetermined viewing angle on the right side of the vehicle is photographed. The remaining one in-vehicle camera 5 is a back camera 5 attached to the rear part of the host vehicle (for example, a position near the rear license plate), and the back camera 5 has a predetermined field of view behind the host vehicle. An object existing in the corner is photographed. These on-vehicle cameras 2, 3, 4, and 5 may be cameras equipped with a solid-state imaging device such as a CCD or CMOS and a wide-angle lens such as a fisheye lens.

  A camera video acquisition unit 7 is connected to each of the in-vehicle cameras 2, 3, 4, 5, and the camera video acquisition unit 7 acquires the captured video of each of the in-vehicle cameras 2, 3, 4, 5. It has become.

  The camera image acquisition unit 7 is connected to a vehicle periphery monitoring image display processing unit 8 as vehicle periphery monitoring image display processing means. The vehicle periphery monitoring image display processing unit 8 is acquired by the camera image acquisition unit 7. In addition, by appropriately using the captured images of the on-vehicle cameras 2, 3, 4, and 5, a vehicle periphery monitoring image for monitoring a predetermined monitoring area around the host vehicle is generated. Note that the vehicle periphery monitoring image can be generated by coordinate conversion that converts a captured image on the imaging plane coordinate system of the in-vehicle cameras 2, 3, 4, and 5 into an image on the coordinate system of the display 10 described later. . For this coordinate conversion, a mapping table or the like describing the correspondence between the pixels on the imaging plane coordinate system and the pixels on the display coordinate system can be used.

  The vehicle periphery monitoring image may be, for example, a bird's-eye view image 11 as seen from above the host vehicle and its surroundings as shown in FIG. Note that the bird's-eye view image 11 shown in FIG. 2 is a front bird's-eye view image 11a looking down at the front of the host vehicle, a left bird's-eye view image 11b looking down at the left side of the host vehicle, and a right side bird's-eye view image 11c looking down at the right side of the host vehicle. The rear overhead view image 11d looking down at the rear of the host vehicle and the illustration image 9 showing the host vehicle are formed. The front bird's-eye view image 11a is generated based on the captured video of the front camera 2. Further, the left side bird's-eye view image 11b is generated based on the captured video of the left side camera 3. Furthermore, the right side bird's-eye view image 11 c is generated based on the captured video of the right side camera 4. Furthermore, the rear bird's-eye view image 11d is generated based on the captured video of the back camera 5. More specifically, the bird's-eye view image 11 in FIG. 2 shows that in the parking lot where a plurality of parking spaces are partitioned by white lines, the host vehicle turns the handle to the left toward one parking space where the host vehicle is to park. The figure shows a pattern in which the vehicle travels backward with a curved traveling as a state (rotated counterclockwise).

  The vehicle periphery monitoring image display processing unit 8 generates a vehicle periphery monitoring image in response to a user input operation for displaying a vehicle periphery monitoring image such as pressing a button.

  A display 10 as a display unit is connected to the output side of the vehicle periphery monitoring image display processing unit 8. The vehicle periphery monitoring image display processing unit 8 displays the generated vehicle periphery monitoring image on the display 10.

  Moreover, in this embodiment, the parking assistance apparatus 1 has the steering angle information acquisition part 12, and this steering angle information acquisition part 12 acquires the steering angle information which shows the steering angle of the steering wheel of the own own vehicle. It is supposed to be. The steering angle information acquisition unit 12 may be a known steering angle sensor.

  A trajectory calculation unit 14 serving as a trajectory calculation unit is connected to the rudder angle information acquisition unit 12. The trajectory calculation unit 14 is, for example, based on the gear position and the vehicle speed of the host vehicle, When it is detected that a driving operation for parking is performed, the steering angle information acquisition unit 12 acquires the steering angle information. And the locus | trajectory calculation part 14 is based on the rudder angle information acquired from the rudder angle information acquisition part 12, and uses the expected tire locus | trajectory of the left rear wheel of the own vehicle as an estimated locus | trajectory of the left rear side site | part of the own vehicle. In addition to the calculation, an expected tire locus of the right rear wheel of the own vehicle is calculated as an expected locus of the right rear side portion of the own vehicle. This tire trajectory may be a so-called Ackermann tire trajectory.

  Furthermore, in this embodiment, the parking assistance apparatus 1 has a frontage size acquisition unit 15 as a frontage size acquisition unit, and image recognition is performed between the frontage size acquisition unit 15 and the camera video acquisition unit 7. The part 16 is connected.

  For example, when the image recognizing unit 16 detects that the driving operation of the host vehicle for parking in the parking space is performed based on the gear position or the vehicle speed of the host vehicle, the onboard cameras 2 and 3 , 4 and 5 are acquired.

  Then, the image recognition unit 16 calculates the front dimensions (in other words, the width) of the parking space such as white lines, pallets, and curbs that define the parking space by image recognition on the captured video acquired from the camera video acquisition unit 7. A recognized object is recognized, and a frontage dimension of the parking space is calculated based on the recognized object.

  Thereby, the frontage dimension acquisition unit 15 acquires the calculation result of the frontage dimension calculated by the image recognition unit 16.

  The trajectory calculation unit 14 and the frontage dimension acquisition unit 15 are connected to a travel auxiliary line display processing unit 17 as a travel auxiliary line display processing unit. The travel auxiliary line display processing unit 17 displays a vehicle periphery monitoring image. In this case, using the calculation result of the trajectory calculation unit 14 and the acquisition result of the frontage dimension acquisition unit 15, a travel auxiliary line for assisting the backward travel of the host vehicle for parking the host vehicle in a desired parking space The generated travel assistance line is superimposed and displayed on the vehicle periphery monitoring image including the parking space.

  Further, in the present embodiment, the trajectory calculation unit 14 is configured to be able to change the calculation result of the tire trajectory in accordance with the change in the steering angle, and the travel auxiliary line display processing unit 17 includes the trajectory calculation unit 14. Along with the change in the calculation result, the travel auxiliary line can be changed.

  More specifically, when the driving assistance line display processing unit 17 displays a driving assistance line on the overhead image 11, as shown in FIG. 2, the left rear wheel side driving assistance line 20 and the right rear wheel side are displayed. Two travel assist lines 20 and 21 on the left and right with the travel assist line 21 are generated and displayed.

Here, as shown in FIG. 2, the left rear wheel side travel auxiliary line 20 is parallel to the vehicle width direction assumed at a position corresponding to the axle of the rear wheel in the illustration image 9 showing the host vehicle on the overhead view image 11. One point on the first imaginary straight line L1 _{(1) is} defined as a starting end portion, and extends from the starting end portion in the backward direction. In FIG. 2, the starting end of the left rear wheel side travel auxiliary line 20 is located near the outside in the vehicle width direction with respect to the position corresponding to the left rear wheel in the illustration image 9 (near left in FIG. 2). .

Further, as shown in FIG. 2, the right rear wheel side travel auxiliary line 21 also has a point on the first imaginary straight line L1 ₍₁₎ as a starting end portion, and extends from the starting end portion in the backward direction. However, in FIG. 2, the starting end portion of the right rear wheel side travel auxiliary line 21 is positioned near the outside in the vehicle width direction with respect to the position corresponding to the right rear wheel in the illustration image 9 (right vicinity in FIG. 2).

  The shapes of these two travel auxiliary lines 20 and 21 change with changes in the steering angle. However, the left rear wheel side travel auxiliary line 20 always has a shape corresponding to a part of the shape of the tire trajectory of the left rear wheel of the current vehicle calculated by the trajectory calculation unit 14 (for example, the left rear wheel A similar shape to a part of the shape of the tire track). Further, the right rear wheel side travel auxiliary line 21 always has a shape corresponding to a part of the shape of the tire trajectory of the right rear wheel of the current vehicle calculated by the trajectory calculation unit 14 (for example, the right rear wheel of the right rear wheel). A similar shape to a part of the shape of the tire track).

In the present embodiment, the left rear wheel side travel auxiliary line 20 and the right rear wheel side travel auxiliary line 21 are both travel auxiliary on the _first virtual straight line L1 ₍₁₎ as shown in FIG. The separation distance d between the lines 20 and 21 matches the frontage dimension s on the overhead view image 11 of the parking space.

  By displaying such two left and right driving assistance lines 20 and 21, the user can move the left and right driving assistance lines 20 and 21 to the frontage direction in the parking space in the overhead image 11 as shown in FIG. It is possible to perform reverse running in a state of being aligned with the both ends of each. Thereby, it can be made easy to park the own vehicle quickly and appropriately in the center of the parking space.

  Here, the traveling auxiliary lines 20 and 21 shown in FIG. 2 indicate that the host vehicle can pass through the center at the front end portion of the parking space if the backward traveling is started in accordance with the traveling auxiliary lines 20 and 21. Therefore, it is an optimal initial guide for parking the vehicle in the center of the parking space.

  However, it is impossible to continue to position the host vehicle at the center of the parking space until it reaches the end of the parking space (rear end side) with the travel auxiliary lines 20 and 21 in the state of FIG. There is a danger of collision with other vehicles parked in the parking space on the left.

  Therefore, the user completely returns the steering wheel from the state shown in FIG. 2 at an appropriate position (straight line traveling state), or gradually returns the steering wheel as the reverse traveling progresses (gradually reducing the cutting angle). Thus, finally, it is necessary to complete parking in a state where the posture of the host vehicle is parallel to the depth of the parking space at the center of the parking space.

  However, in this embodiment, as the rudder angle changes, the shape of the auxiliary driving lines 20 and 21 can be changed each time, and the guideline for the host vehicle to always pass through the center of the parking space is continuously maintained. Therefore, it can be said that it is extremely effective to quickly and appropriately park the host vehicle in the center of the parking space.

  In FIG. 2, the two travel assist lines 20 and 21 are displayed as ideal states aligned with both ends in the frontage direction in the parking space in the overhead image 11. The lines 20 and 21 have a shape reflecting the calculation result of the trajectory calculation unit 14 to the last, and are aligned as shown in FIG. 2 from the beginning of the display on the overhead image 11. Of course, it is not limited to a thing.

Further, in the present embodiment, the travel auxiliary line display processing unit 17 generates the rear of the actual vehicle as shown in FIG. 3A when generating the two travel auxiliary lines 20 and 21. A second imaginary straight line L2 ₍₁₎ parallel to the vehicle width direction passing through the wheel axle is assumed. The second virtual straight line L2 ₍₁₎ can be assumed based on, for example, previously acquired vehicle information indicating the position of the axle of the rear wheel of the host vehicle.

Incidentally, in FIG. 3 (a), the tire trace L _R of the tire locus L _{L (1)} and the right rear wheel of the left rear wheel calculated by the trajectory calculating section 14 described above ₍₁₎ is shown.

Next, as illustrated in FIG. 3B, the driving assistance line display processing unit 17 calculates the left rear wheel tire locus _{LL (1)} and the right rear wheel tire locus _{LR ( 1)} , the distance D between the tire trajectories L _{L (1)} and L _{R (1)} on the second virtual straight line L _{2 (1)} is acquired by the frontage dimension acquiring unit 15 ( They are moved by the same distance from each other in the direction opposite to each other in the vehicle width direction until reaching a position corresponding to the frontage dimension S). In FIG. 3 (b), both the tire tracks L _{L (1)} and L _{R (1)} are both moved away from each other in the vehicle width direction. This means that the frontage dimension S is wider than the vehicle width. In FIG. 3B, the tire locus L _{L (1)} ′ of the left rear wheel after movement coincides with the left end portion in the front direction of the nearest parking space, and the tire locus L of the right rear wheel after movement. _{R (1)} ′ matches the right end of the same parking space in the frontage direction, which is a case where ideal driving assistance lines 20 and 21 as shown in FIG. 2 are generated from the beginning. .

Next, as shown in FIG. 3C, the travel auxiliary line display processing unit 17 forms a part of the tire locus L _{L (1)} ′ of the left rear wheel after movement as a left line segment, and the tire Left rear extending from the intersection of the locus L _{L (1)} 'to the second virtual straight line L _{2 (1)} (hereinafter referred to as the left rear wheel side intersection P _{L (1)} ) to a predetermined position in the backward direction A ring-side line segment S _{L (1)} is defined.

At the same time, the traveling auxiliary line display processing unit 17 forms a part of the tire locus _{LR (1)} ′ on the right rear wheel after movement as a right line segment, and the tire locus _{LR (1)} ′. Right rear wheel side segment S _{R (1} ) extending from the intersection of the second virtual straight line L _{2 (1)} (hereinafter referred to as right rear wheel side intersection PR ₍₁₎ ) to a predetermined position in the backward direction. ₎ .

In addition, what is necessary is just to change variously the extension position of these each line segment SL ₍₁₎ , SR ₍₁₎ according to a concept.

Then, the auxiliary travel line display processing unit 17 converts the left rear wheel side line segment _{SL (1)} and the right rear wheel side line segment SR ₍₁₎ into coordinates 2 on the bird's eye view image 11 (display coordinate system). The book travel auxiliary lines 20 and 21 are generated.

  Returning to FIG. 1, the driving assistance line display processing unit 17 is connected with a parking impossibility warning output unit 22 as a parking impossibility warning output means, and a speaker 23 is connected to the parking impossibility warning output unit 22. ing.

The parking impossibility warning output unit 22 is a second virtual straight line L ₂ between the left rear wheel tire track _{LL (1)} calculated by the track calculation unit 14 and the right rear wheel tire track _{LR (1). (1) When the} upper separation distance D _{0 (1)} (see FIG. 3A) is larger than the acquisition result S of the frontage dimension acquisition unit 15, parking in the parking space is impossible. A warning to that effect is output via the speaker 23. The parking impossibility warning output unit 22 may output a warning that parking in the parking space is impossible by displaying a warning message on the display 10.

In addition to the above configuration, a mirror folding guide unit 24 serving as a mirror folding guide unit is further connected between the traveling auxiliary line display processing unit 17 and the speaker 23. The mirror folding guide unit 24 has a separation distance D _{0 (1 )} on the _second imaginary straight line L _{2 (1)} between the two tire tracks L _{L (1)} and L _{R (1)} calculated by the track calculation unit 14. _When the excess amount of the acquisition result S of the frontage dimension acquisition unit 15 is less than the threshold value, voice guidance is provided via the speaker 23 that the door mirror needs to be folded because the parking space is narrow. Yes. The mirror folding guide unit 24 may guide the folding of the door mirror by displaying a guidance message on the display 10.

  Next, the effect | action of this embodiment is demonstrated with reference to FIG. 4 and FIG. 5 newly.

  For the sake of convenience, in the initial state, the host vehicle is positioned in the vicinity of one parking space partitioned by a white line in the parking lot, and the host vehicle is about to be parked in this parking space.

  Then, from the initial state, together with the input operation for displaying the bird's-eye view image 11, when the user puts the gear in reverse and prepares for reverse running for parking in the parking space, the vehicle periphery monitoring image display processing unit 8 generates the bird's-eye view image 11 by using the captured images of the in-vehicle cameras 2, 3, 4, 5 acquired by the camera image acquisition unit 7. Specifically, by using the video taken by the front camera 2, the front overhead image 11 a, by using the video taken by the left side camera 3, by using the video taken by the right side camera 4, by using the video taken by the right side camera 4. The right side bird's-eye view image 11c is generated by using the video captured by the back camera 5, and the rear bird's-eye view image 11d is generated. Further, the monitoring image and the illustration image 9 of the host vehicle are combined to generate the bird's-eye view image 11. .

  Then, the vehicle periphery monitoring image display processing unit 8 displays the generated overhead image 11 on the display 10 as shown in FIG.

  At this time, the trajectory calculation unit 14 detects that the driving operation for parking in the parking space of the host vehicle is performed based on the gear position of the host vehicle, and acquires the steering angle information from the steering angle information acquisition unit 12. To do. Next, the trajectory calculation unit 14 calculates expected tire trajectories of the left and right rear wheels of the host vehicle based on the rudder angle information acquired from the rudder angle information acquisition unit 12.

  At this time, the image recognition unit 16 acquires the captured images of the in-vehicle cameras 2, 3, 4, and 5 from the camera image acquisition unit 7, and recognizes the white line that partitions the parking space by image recognition on the acquired captured images. Then, based on the recognized white line, the front size of the parking space is calculated.

  The calculated opening size of the parking space is acquired by the frontage size acquisition unit 15.

  Next, the travel auxiliary line display processing unit 17 uses the calculation result of the trajectory calculation unit 14 and the acquisition result of the frontage dimension acquisition unit 15 by the method shown in FIG. Two travel auxiliary lines 20 and 21 with the right rear wheel side travel auxiliary line 21 are generated.

In the process of generating these travel assist lines 20 and 21, the second between the tire trajectory LL ₍₁₎ of the left rear wheel and the tire trajectory _{LR (1)} of the right rear wheel calculated by the trajectory calculation unit 14. When the separation distance D _{0 (1)} (see FIG. 3A ₎ on the virtual straight line L _{2 (1)} is larger than the acquisition result S of the frontage dimension acquisition unit 15, the parking impossibility warning output unit 22 outputs a warning to the effect that parking in the parking space is impossible via the speaker 23. The warning may be output together with the display of the auxiliary driving lines 20 and 21. Thereby, since the parking space is small, the user can surely understand that the host vehicle cannot be parked in the parking space, and thus avoids a driving operation for unreasonable parking. be able to.

Alternatively, on the second virtual straight line L _{2 (1)} between the two tire tracks L _{L (1)} and L _{R (1)} calculated by the track calculation unit 14 in the process of generating the travel assist lines 20 and 21. When the excess amount of the acquisition result S of the frontage dimension acquisition unit 15 with respect to the separation distance D _{0 (1)} (see FIG. 3A) is less than the threshold value, the mirror folding guide unit 24 has a narrow parking space. Therefore, a voice guidance is provided through the speaker 23 that the door mirror needs to be folded. This voice guidance may be performed together with the display of the driving assistance lines 20 and 21. Thereby, the user can park safely even if it is a narrow parking space.

  Next, as illustrated in FIG. 4, the travel auxiliary line display processing unit 17 superimposes and displays the generated left rear wheel side travel auxiliary line 20 and right rear wheel side travel auxiliary line 21 on the overhead image 1.

  It should be noted that the two travel auxiliary lines 20 and 21 shown in FIG. 4 are displayed as a state where the parking space is sufficiently large and is not accompanied by a warning by the parking impossible warning output unit 22 or a guidance by the mirror folding guide unit 24. To do.

In the state of FIG. 4, the distance d between the two travel auxiliary lines 20 and 21 on the first virtual straight line L1 ₍₁₎ similar to that shown in FIG. 2 is an overhead view of the parking space. Although it corresponds to the frontage dimension s on the image 11, both travel auxiliary lines 20 and 21 are shifted to the right in the frontage direction from both ends in the frontage direction in the parking space. This indicates that the current vehicle cannot properly enter the parking space with the current rudder angle because there are few ways to turn the steering wheel of the current vehicle to the left.

  Therefore, when the user turns the steering wheel slightly to the left from the state of FIG. 4, the traveling auxiliary line display processing unit 17 changes the calculation result of the trajectory calculation unit 14 due to the change in the steering angle. Two travel auxiliary lines 20 and 21 as shown in FIG. 5 (a) are generated and displayed.

  The state shown in FIG. 5A is the same as that shown in FIG. 2, and each of the two travel auxiliary lines 20 and 21 is aligned with both ends in the frontage direction in the parking space on the overhead image 11. .

  By displaying the travel assist lines 20 and 21 shown in FIG. 5A as described above, if the user starts to travel backward with the current rudder angle, the host vehicle may head toward the center of the parking space. I can understand what I can do.

  In the state of FIG. 5 (a), the rear end side of the travel auxiliary lines 20, 21 overlaps with other vehicles parked in other parking spaces on the left side that protrude from the parking space where the host vehicle is about to park. Therefore, the user can completely return the steering wheel at an appropriate position or use the steering wheel as the reverse running progresses, while using the traveling auxiliary lines 20 and 21 shown in FIG. Carrying backward running with the intention of gradually returning to.

  Next, the user starts reverse travel according to the travel auxiliary lines 20 and 21 shown in FIG. 5A, and gradually returns the handle as the reverse travel progresses, for example.

  At this time, the travel auxiliary line display processing unit 17 gradually changes the shapes of the travel auxiliary lines 20 and 21 in accordance with the change in the calculation result of the trajectory calculation unit 14 due to the change in the steering angle. Then, in the state of FIG. 5 (b) in which the backward traveling has progressed from the state of FIG. 5 (a), the traveling auxiliary lines 20, 21 that are closer to a linear shape than those of FIG. 5 (a) are displayed. In the state of FIG. 5 (b), as in FIG. 5 (a), each of the two travel auxiliary lines 20, 21 is aligned with both ends in the frontage direction in the parking space on the overhead image 11. Thus, the user can use the traveling auxiliary lines 20 and 21 in such a state as a guide for parking in the center of the parking space. The travel auxiliary lines 20 and 21 shown in FIG. 5 (b) are closer to a straight line than the case of FIG. 5 (a), and the degree of deviation from the parking space where the host vehicle is about to park is shown in FIG. Since it is smaller than the case of (a), it becomes a standard with higher reliability for parking the parking space in the center.

  In addition, when changing the shape of the driving assistance lines 20 and 21 in this way, as shown in FIG. 4, it is again positioned between the driving assistance lines 20 and 21 and both ends in the frontage direction in the parking space. When a deviation occurs, the user may perform alignment by adjusting the rudder angle each time.

  Further, from the state of FIG. 5B, the backward traveling is further advanced, and the handle is completely returned at the position of FIG. 5C.

  The driving assistance lines 20 and 21 shown in FIG. 5C are completely straight and overlap with the white lines that define the left and right sides of the parking space. In FIG. 5C, the rear end of the host vehicle is positioned immediately before the front end of the parking space.

  Then, the user can park the host vehicle completely at the center of the parking space by traveling along the auxiliary travel lines 20 and 21 shown in FIG.

Above As mentioned, according to this embodiment, a frontage dimension s on the overhead image 11 of the parking space, the distance of the first virtual straight line L on ₁ between two travel auxiliary lines 20, 21 d Therefore, the two traveling auxiliary lines 20 and 21 can be moved backward in a state where the two traveling auxiliary lines 20 and 21 are respectively aligned with both ends in the frontage direction in the parking space on the bird's-eye view image 11. Can be easily parked quickly and appropriately in the center of the parking space.

(Second Embodiment)
Next, 2nd Embodiment of the parking assistance apparatus which concerns on this invention is described with reference to FIG. 6 and FIG. 7 newly.

  Note that portions having the same or similar basic configuration as the first embodiment will be described using the same reference numerals.

  Since the basic configuration of the parking support apparatus in the present embodiment is the same as that shown in FIG. 1, in the following description, the configuration of the parking support apparatus in the present embodiment will be described with reference to FIG. To do.

  As in the first embodiment, the parking assist device 1 according to the present embodiment generates two left and right travel assist lines by the travel assist line display processing unit 17 and monitors the generated travel assist lines with respect to the vehicle periphery. It is displayed on the image.

  However, in the present embodiment, the shape and generation method of the travel assistance line are slightly different from those in the first embodiment.

That is, in the present embodiment, when the trajectory calculation unit 14 detects that the driving operation for parking the host vehicle in the parking space is performed, the trajectory calculation unit 14 is based on the steering angle information acquired from the steering angle information acquisition unit 12. As an expected trajectory of the left rear portion of the host vehicle, an expected movement trajectory of the actual or virtual left rear corner of the host vehicle is calculated, and as an expected trajectory of the right rear portion of the host vehicle, An expected movement trajectory of the actual or virtual right rear side corner of the host vehicle is calculated.

  Here, the actual left rear side corner portion of the host vehicle is a corner portion that is actually formed at the left rear end portion of the host vehicle (more accurately, because the actual planar shape of the host vehicle is angular. Is the corner apex).

  Similarly, the actual right rear corner of the host vehicle is a corner (actually more accurately formed at the right rear end of the host vehicle due to the fact that the actual planar shape of the host vehicle is angular. Is the corner apex).

On the other hand, the rear left side corner of the virtual in the vehicle, the corners as indicated by reference numeral C _L in FIG. 6 (a) (hereinafter, referred to as virtual left rear side corner portion C _L if necessary) It shall be said. That is, as shown in FIG. 6 (a), the virtual left rear corner portion _CL is actually a corner at the left rear end portion of the host vehicle because the actual planar shape of the host vehicle is rounded. Even if the part is not formed, the tangent line extending in the full length direction of the vehicle contacting the left end of the host vehicle (for example, the left end of the body excluding the left door mirror) and the vehicle width contacting the rear end of the host vehicle a (second imaginary straight line L _{2 (2)} to the corresponding described later) and the corner portion which can be virtually formed (the apex of the more precisely the corners) by intersecting the C _L tangent extending in a direction ing.

Similarly, the right rear side corner portion of the virtual in the vehicle, the corners as indicated by reference numeral C _R in FIG. 6 (a) (hereinafter, referred to as virtual right rear corner portion C _R as needed ). That is, as shown in FIG. 6A, the virtual right rear side corner portion _CR is actually a corner at the right rear end portion of the host vehicle because the actual planar shape of the host vehicle is rounded. Even if the part is not formed, the tangent line extending in the full length direction of the vehicle that touches the right end of the host vehicle (for example, the right end of the body excluding the right door mirror) and the vehicle width that touches the rear end of the host vehicle It has become virtually corners can be formed (more precisely each corner) C _R by intersecting the tangent line extending in a direction.

  These expected trajectories of the actual or virtual left rear corner or right rear corner are the same as the tire trajectory after grasping or assuming the position of each corner based on vehicle information. It can be calculated as a trajectory according to the steering angle. It should be noted that whether to calculate an actual corner or a virtual corner may be selected according to a concept such as an actual vehicle shape.

  Then, the travel auxiliary line display processing unit 17 uses the calculation result of the trajectory calculation unit 14 and the acquisition result of the frontage dimension acquisition unit 15 in the present embodiment to automatically park the host vehicle in a desired parking space. A travel assist line that assists the vehicle traveling backward is generated, and the generated travel assist line is superimposed and displayed on a vehicle periphery monitoring image including a parking space.

  More specifically, the travel assistance line display processing unit 17, when displaying the travel assistance line on the overhead image 11, as shown in FIG. 7, the left rear side travel assistance line 30 and the right rear side travel assistance. Two auxiliary driving lines 30 and 31 on the left and right with the line 31 are generated and displayed.

Here, as shown in FIG. 7, the left rear side travel auxiliary line 30 is a first parallel to the vehicle width direction assumed at a position corresponding to the rear end portion of the host vehicle in the illustration image 9 on the overhead image 11. One point on the imaginary straight line L1 _{(2) is} defined as a starting end portion, and extends from the starting end portion in the backward direction. In FIG. 7, the start end of the left rear side travel auxiliary line 30 is located in the vicinity in the vehicle width direction (the left vicinity in FIG. 7) with respect to the rear end (the lower end in FIG. 7) of the illustration image 9. ing.

Further, as shown in FIG. 7, the right rear side travel auxiliary line 31 also has a point on the first virtual straight line L _{1 (2)} as a starting end portion, and extends from the starting end portion in the backward direction. However, in FIG. 7, the start end portion of the right rear side travel assist line 31 is located in the vicinity in the vehicle width direction with respect to the rear end portion of the illustration image 9 (near right in FIG. 7).

Shape and, in the present embodiment, the left rear side travel assisting line 30, which always corresponds to a portion of the shape of the moving track to be expected for a virtual left rear corner portion C _L calculated by the trajectory calculating section 14 (For example, a similar shape to a part of the shape in the movement trajectory).

Shape In the present embodiment, the right rear drive assistance line 31, which always corresponds to a portion of the shape of the moving track to be expected for a virtual right rear corner portion C _R calculated by the trajectory calculating section 14 (For example, a similar shape to a part of the shape in the movement trajectory).

Further, in the present embodiment, the left rear side travel auxiliary line 30 and the right rear side auxiliary travel line 31 are, as shown in FIG. 7, both the travel auxiliary lines 30 on the _first virtual straight line L1 _(2). , 31 is made to coincide with the frontage dimension s on the overhead view image 11 of the parking space.

  Also in the present embodiment, by displaying the two left and right traveling assist lines 30 and 31 as described above, the user can view the left and right traveling assist lines 30 and 31 as an overhead image as shown in FIG. 11, the vehicle can travel backward in a state of being aligned with both ends in the frontage direction in the parking space, and can easily park the host vehicle quickly and appropriately in the center of the parking space.

  Also in the present embodiment, the travel auxiliary line display processing unit 17 can change the shapes of the two travel auxiliary lines 30 and 31 with changes in the steering angle.

Further, in the present embodiment, the travel auxiliary line display processing unit 17 generates a rear of the actual vehicle as shown in FIG. 6A when generating the two travel auxiliary lines 30 and 31. A second virtual straight line L2 ₍₂₎ passing through the end portion and parallel to the vehicle width direction is assumed. This second virtual straight line L _{2 (2),} the virtual rear left side corner portions C _L and the virtual right rear corners are a straight line passing through both the C _R, the second virtual straight line L _{2 ( 2)} can be assumed based on vehicle information indicating the position of the rear end of the host vehicle.

Incidentally, in FIG. 6 (a), the movement track L _{L (2)} and virtual right rear corner portion C _R to be expected for a virtual left rear corner portion C _L calculated by the trajectory calculating section 14 described above An expected movement trajectory _{LR (2)} is shown.

Next, as illustrated in FIG. 6B, the travel auxiliary line display processing unit 17 predicts the movement trajectory L _{L (2)} about the virtual left rear corner C _L calculated by the trajectory calculation unit 14 and between a virtual right rear corner portion _C movement locus is expected for _{R L R (2),} both the movement locus of the second virtual straight line _{L 2 (2)} on the _{L L (2), L R} (2) Until the distance D reaches a position that matches the acquisition result (frontage dimension S) acquired by the frontage dimension acquisition unit 15, the distance D is moved in the opposite direction in the vehicle width direction by the same distance. .

Incidentally, in FIG. 6 (b), the movement trajectory expected for code L _{L (2)} the virtual left rear corner portion C _L after the movement indicated by _'is left in the frontage direction of the nearest parking space matches the section, also, the movement trajectory expected for code L _R the virtual right rear corner portion C _R after the movement as indicated by _{(2) 'is} consistent with the right end portion in the frontage direction of the parking space ing.

Next, as illustrated in FIG. 6C, the travel assistance line display processing unit 17 uses the expected movement trajectory L _{L (2} for the virtual left rear side corner portion C _L after the movement as a left line segment. ₎ A part of ', and predetermined from the left rear wheel side intersection P _{L (2)} which is the intersection of the locus L _{L (2)} ' and the second virtual straight line L _{2 (2)} in the backward direction. The left rear side line segment _{SL (2)} extending to the position is defined.

At the same time, the traveling auxiliary line display processing unit 17, a right side of the line segment, a part of the expected movement locus L _{R (2) 'for} the virtual right rear corner portion C _R after the movement, A right rear line segment S extending from the right rear side intersection PR ₍₂₎ , which is the intersection of the locus _{LR (2)} ′ and the second virtual straight line L _{2 (2)} , to a predetermined position in the backward direction. _{R (2)} is defined.

Then, the auxiliary travel line display processing unit 17 converts the two left rear line segments S _{L (2)} and the right rear side line segment S _{R (2)} into coordinates on the overhead view image 11 (display coordinate system). The traveling auxiliary lines 30 and 31 are generated.

  Thus, in this embodiment, although the shape and generation method of a driving assistance line differ slightly from 1st Embodiment, the driving assistance lines 30 and 31 in this embodiment are also parked similarly to 1st Embodiment. There is no substitute for supporting smooth parking in the center of the space.

Further, the parking not warning output unit 22 in the present embodiment, the moving locus L _{L (2)} and the virtual right rear corner portion C which is expected for a virtual left rear corner portion C _L calculated by the trajectory calculating section 14 second virtual straight line _{L 2 (2)} spaced apart on the distance _{D 0 (2)} (see FIG. 6 (a)), frontage dimension acquisition unit between the movement locus is expected for _{R L R (2)} When the acquisition result S is greater than 15, a warning that parking in the parking space is impossible is output through the speaker 23 as a voice.

  Thereby, also in this embodiment, since the user can surely understand that the own vehicle cannot be parked in the parking space because the parking space is narrow, driving for unreasonable parking Operation can be avoided in advance.

Further, in the present embodiment, the mirror folding guide unit 24 includes the expected movement trajectory L _{L (2)} and the virtual right rear side corner C _{R of} the virtual left rear side corner C _L calculated by the trajectory calculation unit 14. The excess amount of the acquisition result S of the frontage dimension acquisition unit 15 with respect to the separation distance D _{0 (2)} on the second virtual straight line L _{2 (2)} between the predicted movement locus _{LR (2)} and the threshold is the threshold value. When it becomes less than, the voice guidance is made via the speaker 23 that the door mirror needs to be folded because the parking space is narrow.

  Thereby, also in this embodiment, the user can park safely even if it is a narrow parking space.

  In addition, this invention is not limited to embodiment mentioned above, A various change is possible as needed.

  For example, the frontage size acquisition unit 15 is a manual input operation of the frontage size by a user who knows the frontage size by looking at a DSRC (Dedicated Short-Range Communication) in a parking lot, a signboard, etc. existing in the parking lot. Alternatively, the frontage dimensions may be acquired by communication via the Internet or the like.

The block diagram which shows 1st Embodiment of the parking assistance apparatus which concerns on this invention. Explanatory drawing for demonstrating the display state of the driving assistance line on a bird's-eye view image in 1st Embodiment of the parking assistance apparatus which concerns on this invention. In 1st Embodiment of the parking assistance apparatus which concerns on this invention, explanatory drawing for dividing the production | generation process of a driving assistance line into three steps of (a), (b) and (c). In 1st Embodiment of the parking assistance apparatus which concerns on this invention, explanatory drawing for demonstrating the display state of the driving assistance line before alignment with respect to the both ends of a frontage direction in a parking space is performed. In 1st Embodiment of the parking assistance apparatus which concerns on this invention, (a) demonstrates the display state of the driving assistance line after alignment with respect to the both ends of the frontage direction in a parking space from the state of FIG. (B) is explanatory drawing for demonstrating the display state of the driving assistance line after reverse traveling progressed rather than (a), (c) is more than (b) It is explanatory drawing for demonstrating the display state of the driving assistance line after reverse driving | running | working progressed. In 2nd Embodiment of the parking assistance apparatus which concerns on this invention, explanatory drawing for dividing the production | generation process of a driving assistance line into three steps of (a), (b) and (c). Explanatory drawing for demonstrating the display state of the driving assistance line on a bird's-eye view image in 2nd Embodiment of the parking assistance apparatus which concerns on this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Parking assistance apparatus 2 Front camera 3 Left side camera 4 Right side camera 5 Back camera 8 Vehicle periphery monitoring image display processing part 10 Display 11 Overhead image 14 Tire locus calculation part 15 Opening dimension acquisition part 17 Driving auxiliary line display processing part 20 Left Rear wheel side driving auxiliary line 21 Right rear wheel side driving auxiliary line

Claims (6)

Photographing means for photographing a predetermined photographing region around the own vehicle;
A vehicle periphery monitoring image for generating a vehicle periphery monitoring image for monitoring a predetermined monitoring region around the host vehicle using a video image taken by the imaging means and displaying the generated vehicle periphery monitoring image on a display unit Display processing means;
When the host vehicle is parked in a desired parking space, the left rear wheel of the host vehicle is predicted as a predicted trajectory of the left rear side portion of the host vehicle based on the steering angle of the handle of the host vehicle. A trajectory calculating means for calculating a tire trajectory and calculating an expected tire trajectory of the right rear wheel of the host vehicle as an expected trajectory of a right rear side portion of the host vehicle;
Frontage dimension obtaining means for obtaining the frontage dimension of the parking space;
Using the calculation result of the trajectory calculation means and the acquisition result of the frontage dimension acquisition means, a travel auxiliary line for assisting backward travel of the own vehicle for parking the own vehicle in the parking space is generated and generated. A travel auxiliary line display processing means for displaying the travel auxiliary line superimposed on the vehicle periphery monitoring image including the parking space;
The travel auxiliary line display processing means has a shape corresponding to a part of the expected trajectory of the left rear side part and a shape of a part of the expected trajectory of the left rear part and a shape of the expected trajectory of the right rear side part. A vehicle width direction assumed to be a position corresponding to an axle of a rear wheel of the host vehicle on the vehicle periphery monitoring image, which is the two travel auxiliary lines with the right side travel auxiliary line having a corresponding shape The two travel auxiliary lines such that the separation distance between the two travel auxiliary lines on the first virtual straight line parallel to the vehicle is the same as the frontage dimension on the vehicle periphery monitoring image of the parking space. Formed to produce ,
At the time of generating these travel auxiliary lines, the travel auxiliary line display processing means assumes a second virtual straight line parallel to the vehicle width direction passing through the axle of the rear wheel of the actual vehicle, and The tire trajectories of the left and right rear wheels are resisted against each other in the vehicle width direction until the separation distance on the second imaginary straight line between the two tire trajectories reaches a position that matches the acquisition result of the frontage dimension acquisition means. In the direction of travel, forming a part of the tire trajectory of the left rear wheel after movement, and moving in the backward direction from the intersection of the tire trajectory of the left rear wheel after the movement and the second virtual straight line. A left-side line segment that extends and forms a part of the tire locus of the right rear wheel after movement, and an intersection of the tire locus of the right rear wheel after movement and the second virtual straight line The right-hand line segment extending backward from The left side travel segment is generated by coordinate conversion of the left line segment on the vehicle periphery monitoring image, and the right side segment is generated by coordinate conversion of the right line segment on the vehicle periphery monitoring image. Is formed to generate the travel auxiliary line of
Acquisition of the frontage dimension acquisition unit with respect to the separation distance on the second virtual straight line between the predicted trajectory of the left rear side part and the expected trajectory of the right rear side part calculated by the trajectory calculation unit A parking assistance device comprising mirror folding guide means for guiding that the door mirror needs to be folded because the parking space is narrow when the excess amount of the result is less than a threshold . Photographing means for photographing a predetermined photographing region around the own vehicle;
A vehicle periphery monitoring image for generating a vehicle periphery monitoring image for monitoring a predetermined monitoring region around the host vehicle using a video image taken by the imaging means and displaying the generated vehicle periphery monitoring image on a display unit Display processing means;
When the host vehicle is parked in a desired parking space, an actual or virtual left rear in the host vehicle is used as an expected trajectory of the left rear side portion of the host vehicle based on the steering angle of the handle of the host vehicle. An expected movement trajectory for a side corner is calculated, and an expected movement trajectory for an actual or virtual right rear corner in the host vehicle is calculated as an expected trajectory of the right rear side portion of the host vehicle. A trajectory calculating means for calculating;
Frontage dimension obtaining means for obtaining the frontage dimension of the parking space;
Using the calculation result of the trajectory calculation means and the acquisition result of the frontage dimension acquisition means, a travel auxiliary line for assisting backward travel of the own vehicle for parking the own vehicle in the parking space is generated and generated. A travel auxiliary line display processing means for displaying the travel auxiliary line superimposed on the vehicle periphery monitoring image including the parking space;
The travel auxiliary line display processing means has a shape corresponding to a part of the expected trajectory of the left rear side part and a shape of a part of the expected trajectory of the left rear part and a shape of the expected trajectory of the right rear side part. Two travel assist lines with the right travel assist line having a corresponding shape, in the vehicle width direction assumed at a position corresponding to the rear end of the host vehicle on the vehicle periphery monitoring image Two travel assist lines are generated such that a separation distance between the two travel assist lines on a parallel first virtual straight line matches a frontage dimension on the vehicle periphery monitoring image of the parking space. is formed so as to,
When generating these travel auxiliary lines, the travel auxiliary line display processing means assumes a second virtual straight line parallel to the vehicle width direction passing through the rear end portion of the actual vehicle, and the left The separation distance on the second virtual straight line between the movement locus of the rear corner and the movement locus of the right rear corner coincides with the acquisition result of the frontage dimension acquisition means. To the position where the left and right corners are moved to form a part of the movement locus of the left rear corner after the movement, and the movement locus of the left rear corner after the movement And defining the left-side line segment extending in the backward direction from the intersection of the second virtual straight line and forming a part of the movement trajectory of the right rear side corner after the movement, The movement trajectory of the right rear side corner and the second virtual straight line A right line segment extending in a backward direction from the point, the left line segment is generated by coordinate conversion of the left line segment on the vehicle periphery monitoring image, and the right line segment Is formed so as to generate the right travel auxiliary line by coordinate conversion on the vehicle periphery monitoring image with respect to
Acquisition of the frontage dimension acquisition unit with respect to the separation distance on the second virtual straight line between the predicted trajectory of the left rear side part and the expected trajectory of the right rear side part calculated by the trajectory calculation unit A parking assistance device comprising mirror folding guide means for guiding that the door mirror needs to be folded because the parking space is narrow when the excess amount of the result is less than a threshold . The separation distance on the second imaginary straight line between the predicted trajectory of the left rear side portion and the predicted trajectory of the right rear side portion calculated by the trajectory calculating means is based on the acquisition result of the frontage dimension acquiring means. The parking assistance device according to claim 1 or 2 , further comprising a parking disabling warning output means for outputting a warning that parking in the parking space is impossible when the parking space becomes too large. . The trajectory calculation means is formed so that the calculation result of the expected trajectory can be changed along with the change in the rudder angle.
The traveling auxiliary line display processing unit, with the change of the calculation result of the locus calculation means, either one of claims 1 to 3, characterized in that it is formed can be changed the traveling auxiliary line 1 The parking assistance device according to item. The frontage dimension obtaining unit is configured to obtain the frontage dimension based on a photographed image of a white line, a pallet, or a curb that partitions the parking space photographed by the photographing unit. The parking assistance device according to any one of claims 1 to 4 . The parking assistance according to any one of claims 1 to 5 , wherein the vehicle periphery monitoring image is an overhead image obtained by looking down the host vehicle and the vicinity thereof from above the host vehicle. apparatus.

Images